CN108098804A - Apery manipulator - Google Patents
Apery manipulator Download PDFInfo
- Publication number
- CN108098804A CN108098804A CN201711425322.0A CN201711425322A CN108098804A CN 108098804 A CN108098804 A CN 108098804A CN 201711425322 A CN201711425322 A CN 201711425322A CN 108098804 A CN108098804 A CN 108098804A
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- CN
- China
- Prior art keywords
- finger
- knuckle
- connector
- component
- hand
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
Abstract
The present invention relates to manipulator technical fields, disclose a kind of Apery manipulator, including palm component, first-hand finger assembly, multiple second finger components；First-hand finger assembly and multiple second finger components are movably connected in by connector on palm component, and multiple second finger components are arranged side by side, and first-hand finger assembly is oppositely arranged with one of second finger component；First-hand finger assembly and second finger component are respectively provided with two finger joints, and each finger joint is operated alone by a driving unit；First-hand finger assembly can realize grasping movement with second finger component under the driving of driving unit.Apery manipulator provided by the invention meets routine use demand, it can be achieved that the actions such as grasp, pinch, proposing；The each finger joint of manipulator is operated alone by a motor, and enough driving forces can be provided in robot work, increases interphalangeal curvature and grip, elevating mechanism hand grasping performance.
Description
Technical field
The present invention relates to manipulator technical field, more particularly to a kind of Apery manipulator.
Background technology
As the final tache of machine man-environment interaction, what tail end manipulator of robot directly affected robot can
Operating characteristics and intelligent level.Duo Zhi robots as tail end manipulator of robot cause industrial robot in non-structural ring
It is contacted in border with target object close-distance safety.Refer to apery type Dextrous Hand such as to endanger in particular surroundings for service humanoid robot more
The fields such as dangerous product examine survey, overhaul of the equipments, underwater operation, space station article carrying and assembling, disability auxiliary have important application valency
Value.
Complicated task can be performed more instead of human hand by referring to robot delicate, therefore Dextrous Hand is required to have and human hand phase
As size and mobility, current manipulator generally use steel wire drive or tendon transmission, such as Patent No.
There are following defect and deficiencies for the patent of CN105291134A：
1st, using the tendon kind of drive so that manipulator needs to realize torque and the coupling of movement；In addition, steel wire stiffness by itself
It is limited, the precision of finger position can be influenced, and then increases control difficulty.
2nd, the curvature of manipulator and grip are smaller, it is impossible to meet relatively large load demand, and cannot be well adapted for not
Similar shape is crawled object.
The content of the invention
(1) technical problems to be solved
The object of the present invention is to provide a kind of Apery manipulators, and to solve, existing Apery manipulator control accuracy is low, grabs
The smaller defect of grip.
(2) technical solution
In order to solve the above technical problem, the present invention provides a kind of Apery manipulator, including：Palm component, the first finger
Component, multiple second finger components；
The first-hand finger assembly and multiple second finger components are movably connected in the palm by connector
On component, multiple second finger components are arranged side by side, the first-hand finger assembly and one of them described second finger group
Part is oppositely arranged；The first-hand finger assembly and the second finger component are respectively provided with two finger joints, and each finger joint passes through one
Driving unit is operated alone；The first-hand finger assembly can be real under the driving of the driving unit with the second finger component
Existing grasping movement.
Wherein, the palm component includes main supporting item and control panel；The main supporting item, which is equipped with, installs the control panel
Control panel mounting portion and the installation connector connector mounting portion.
Wherein, the connector includes the first connector；First connector is used to connect first-hand finger assembly and institute
State palm component；First connector includes the annulus of the fixed driving unit and connects the circle of the first-hand finger assembly
Plate, the annulus outer wall are connected as one with the plectane by linking arm, with described the after driving unit installation
The shaft of proficiency finger assembly is coaxial or parallel.
Wherein, the first-hand finger assembly includes first knuckle, second knuckle and Bevel Gear Transmission unit；Described first refers to
Section is connected with first connector, and a driving unit directly drives relatively described first connector of the first knuckle
It rotates；The junction of the first knuckle and the second knuckle is equipped with the Bevel Gear Transmission unit, another described driving
The output shaft of unit is changed by the Bevel Gear Transmission unit to be back-drived the second knuckle and is rotated relative to the first knuckle.
Wherein, the connector includes the second connector；Second connector is used to connect the second finger component
With the palm component；Second connector is equipped with the fixed part of fixed driving unit, after the driving unit is fixed its
Output shaft is vertical with the shaft of the second finger component.
Wherein, the second finger component includes third knuckle, the 4th finger joint and two Bevel Gear Transmission units；Described
The junction of three finger joints and second connector is set there are one Bevel Gear Transmission unit, and a driving unit passes through described
Bevel Gear Transmission unit drives the third knuckle to be rotated relative to second connector；The third knuckle refers to the described 4th
The junction of section is equipped with another Bevel Gear Transmission unit, another described driving unit is driven by the Bevel Gear Transmission unit
The 4th finger joint is moved to rotate relative to the third knuckle.
Wherein, pressure is equipped at the finger tip and/or finger belly of the first-hand finger assembly and/or the second finger component to pass
Sensor.
Wherein, the pressure sensor external pasting has non-slip mat.
Wherein, the first-hand finger assembly is equipped with current potential device assembly with the place of rotatable connection of the second finger component.
Wherein, the second finger component is three, and the first-hand finger assembly is with being located at any one of of both sides
Second finger component is oppositely arranged.
(3) advantageous effect
Apery manipulator provided by the invention, each finger are respectively provided with two degree of freedom, it can be achieved that grasping, pinching, carrying etc. and is dynamic
Make, realize the application demand of robot in daily life；Each finger joint of manipulator finger is operated alone by a motor,
Enough driving forces in robot work can be provided, increase interphalangeal curvature and grip so that finger it is each from
By spending in action, there is excellent grasping performance.
Description of the drawings
Fig. 1 is manipulator overall structure diagram in the embodiment of the present invention；
Fig. 2 is the palm modular construction explosive view in Fig. 1；
Fig. 3 is first-hand finger assembly structure diagram in Fig. 1；
Fig. 4 is the exploded perspective view of Fig. 3；
Fig. 5 is second finger component structure diagram in Fig. 1；
Fig. 6 is the exploded perspective view of Fig. 5；
Fig. 7 is manipulator control functional diagram；
In figure, 1- palm components；101- palm support plates；1011- the first connector mounting portions；The second connectors of 1012-
Mounting portion；102- palm fixed plates；103- control panels；The first-hand finger assemblies of 2-；201- first knuckles；202nd, the first straight-tooth of 302-
Bevel gear；203rd, the second straight bevel gears of 303-；204th, 304- shafts；205- second knuckles；206- diaphragm pressure sensors；
207th, 307- non-slip mats；3- second finger components；301- third knuckles；305th, the 4th finger joint；4- brush direct current motors；401- rows
Star reduction box；The first connectors of 50-；501- linking arms；502- annulus；503- plectanes；The second connectors of 51-；6- potentiometer groups
Part；7- master controllers；8- manipulators；9- angular sensors.
Specific embodiment
With reference to the accompanying drawings and examples, the specific embodiment of the present invention is described in further detail.Following instance
For illustrating the present invention, but it is not limited to the scope of the present invention.
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly completely described, it is clear that described embodiment is this
Invention part of the embodiment, instead of all the embodiments.Embodiments of the present invention, which are generally described and illustrated herein in the accompanying drawings
Component can arrange and design with a variety of configurations.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiment of the present invention, the common skill in this field
The other embodiment that art personnel are obtained under the premise of no creative work, belongs to the scope of protection of the invention.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, then it need not be to its further definition and explanation in subsequent attached drawing.
In the description of the present invention, it is to be understood that term " " center " " on " " under " fingers such as " left side " " right side " " interior " " outer "
The orientation or position relationship or the invention that the orientation or position relationship those skilled in the art shown usually understands
Product using when the orientation usually put or the orientation that usually understands of position relationship or those skilled in the art or position close
System is for only for ease of the description present invention and simplifies description rather than instruction or imply that signified equipment or element must have
Specific orientation, with specific azimuth configuration and operation, therefore the it is not intended that limitation of the present invention.
In the description of the present invention, unless otherwise indicated, " multiple " are meant that two or more；In addition, term
" first ", " second ", " the 3rd " etc. are only used for description purpose, and it is not intended that instruction or hint relative importance.It also needs to
Illustrate, unless otherwise clearly defined and limited, term " setting ", " installation ", " connection ", " fixation " should make broad sense reason
Solution, for example, it may be being fixedly connected or dismantling connection or being integrally connected；Can be mechanical connection or
Electrical connection；Can be directly connected to, can also be indirectly connected with by intermediary, can be the connection inside two elements.It is right
For those of ordinary skill in the art, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Fig. 1 is manipulator overall structure diagram in the embodiment of the present invention；Fig. 2 is the palm modular construction explosion in Fig. 1
Figure；Fig. 3 is first-hand finger assembly structure diagram in Fig. 1；Fig. 4 is the exploded perspective view of Fig. 3；Fig. 5 is second finger group in Fig. 1
Part structure diagram；Fig. 6 is the exploded perspective view of Fig. 5；Fig. 7 is manipulator control functional diagram.
As shown in figures 1-6, an embodiment of the present invention provides a kind of specific embodiments of Apery manipulator.
As shown in fig. 1, the Apery manipulator of the present embodiment includes：Palm component 1, first-hand finger assembly 2, multiple second
Finger component 3.
First-hand finger assembly 2 and multiple second finger components 3 are movably connected in by connector on palm component 1, excellent
Selection of land, second finger component 3 are three, i.e., four finger structures are used in the present embodiment.Multiple second finger components 3 are set side by side
It puts, acts on similar forefinger, middle finger, the third finger, first-hand finger assembly 2 acts on similar thumb.First-hand finger assembly 2 and wherein one
A second finger component 3 is oppositely arranged, and is oppositely arranged in the present embodiment with forefinger.First-hand finger assembly 2 and second finger component 3
Two finger joints are respectively provided with, each finger joint is operated alone by driving unit.First-hand finger assembly 2 is driving with second finger component 3
Grasping movement can be realized under moving cell driving.
As shown in Figure 2, palm component 1 includes palm support plate 101, palm fixed plate 102 and control panel 103.Control
Plate 103 is used to that each driving unit to be controlled to move；Palm fixed plate 102 is mainly used for manipulator being connected on mechanical arm, hand
Ramus volaris profundus fagging 101 is mainly used for each finger being connected on palm.Palm support plate 101 is equipped with the control of installation control panel 103
The connector mounting portion of 103 mounting portion of plate and installation connecting element.Connector includes the first connector 50 and the second connector
51, for connecting first-hand finger assembly 2 and palm component 1, the second connector 51 is used to connect second finger the first connector 50
Component 3 and palm component 1.Therefore, connector mounting portion is also classified into the first connector 50 first company of the first connector 50 of connection
50 mounting portion 1011 of fitting and 51 mounting portion 1012 of the second 51 second connector of connector for installing the second connector 51.The
50 first connector of a connection piece, 50 mounting portion 1011 is the chain-wales of a protrusion, with the linking arm in the first connector 50
501 are fixed by bolt or screw.Second 51 second connector of connector, 51 mounting portion 1012 is the row positioned at plane lower end
Connecting hole.103 mounting portion of control panel is a plane, and control panel 103 is fixed on the plane by fasteners such as bolt or screws
On.
As shown in Figure 2, the first connector 50 includes the annulus 502 of fixed driving unit and connects first-hand finger assembly 2
Plectane 503,502 outer wall of annulus is connected as one with plectane 503 by linking arm 501, with the after driving unit installation
The shaft of one finger joint 201 is coaxial or parallel.It is coaxial refer to it is coaxial with the shaft of first knuckle 201, it is parallel to refer to and second knuckle
205 shaft 204 is parallel.Driving unit includes motor and planetary reduction box 401.Motor uses brush direct current motor 4, and direct current has
After brush motor 4 connects planetary reduction box 401, it is fixed on by flat head screw in the annulus 502 of the first connector 50, it is laterally disposed
The inside of first knuckle 201 in first-hand finger assembly 2, the output shaft of planetary reduction box 401 connect from first knuckle 201 and first
The one side of fitting 50 penetrates with one heart, and the position being in contact with first knuckle 201 is connected by fastener, and first knuckle 201 is another
One side connects angular sensor 9 and its circuit board.
As shown in Figures 3 and 4, first-hand finger assembly 2 includes first knuckle 201, second knuckle 205 and Bevel Gear Transmission
Unit.Bevel Gear Transmission unit includes the first straight bevel gear 202 and the second straight bevel gear 203.First knuckle 201 and first
Connector 50 is rotatablely connected, and a driving unit directly drives first knuckle 201 and rotated relative to the first connector 50.First knuckle
201 are equipped with Bevel Gear Transmission unit with the junction of second knuckle 205, and the output shaft of another driving unit is passed by bevel gear
Moving cell, which changes, to be back-drived second knuckle 205 and is rotated relative to first knuckle 201.First-hand finger assembly 2 and second finger component 3
Current potential device assembly 6 is equipped at rotatable connection, current potential device assembly 6 is used to measure the bending angle of each finger joint.Every finger finger joint
Shaft with angular sensor is coaxially concentric is connected, finger joint angle change can be detected in time, the two collective effect makes
Obtaining manipulator can timely and accurately act, and improve the operation precision of manipulator.
As shown in Figure 4, second knuckle 205 and the hole position concentric alignment of 201 junction of first knuckle, the second straight-tooth cone tooth
Wheel 203 is fixed in shaft 204, and shaft 204 is penetrated in 205 concentric holes position of first knuckle 201 and second knuckle, shaft 204 1
Side is circular fixinig plate, and opposite side penetrates angular sensor and its circuit board, and angular sensor and its circuit board are total to
With composition current potential device assembly 6.Angular sensor is fixed on two flat head screws on second knuckle 205, and shaft 204 is successively
Through second knuckle 205, the second straight bevel gear 203, attachment spacers, current potential device assembly 6 and fix.
Planetary reduction box 401 exports the first straight bevel gear of axis connection 202, the first straight bevel gear 202 and the second straight-tooth
Bevel gear 203 is meshed, and drives the stretching, extension of second knuckle 205 and shrinks.The first knuckle 201 of first-hand finger assembly 2 can be with hand
The palm is maximum in 90 ° of bending angles, and second knuckle 205 can bend the angle that maximum can be in 100 ° with first knuckle 201.
As shown in Fig. 1, Figures 5 and 6, the second connector 51 is equipped with the fixed part of fixed driving unit, and driving unit is solid
Its output shaft is vertical with the shaft of second finger component 3 after fixed.Second finger component 3 includes third knuckle 301, the 4th finger joint
305 and two Bevel Gear Transmission units.The junction of 301 and second connector 51 of third knuckle is set there are one Bevel Gear Transmission list
Member, a driving unit drive third knuckle 301 to be rotated relative to the second connector 51 by Bevel Gear Transmission unit；Third knuckle
301 and the 4th the junction of finger joint 305 be equipped with another Bevel Gear Transmission unit, another driving unit passes through Bevel Gear Transmission
Unit drives the 4th finger joint 305 to be rotated relative to third knuckle 301.
Specifically, the fixed part that brush direct current motor 4 coordinates planetary reduction box 401 to penetrate the second connector 51 is fixed.The
The shaft 304 of three finger joints 301 penetrates third knuckle 301, the second connector 51, the first straight bevel gear 302, connection gasket successively
Piece, current potential device assembly 6 and it is fastened to each other live.Brush direct current motor 4 coordinates planetary reduction box 401 to be inserted by 305 top of the 4th finger joint
Enter the junction of 301 and the 4th finger joint 305 of third knuckle, reduction gearbox output shaft connects the first straight bevel gear 302, shaft 304
Penetrate third knuckle 301, the 4th finger joint 305, the second straight bevel gear 303, attachment spacers, finger potentiometer and potentiometer plate simultaneously
It is fixed.
Preferably, pressure sensing is equipped at first-hand finger assembly 2 and the finger tip of second finger component 3 or finger belly position
Device.Specifically, covered with diaphragm pressure sensor 206 at 201 finger belly position of first knuckle, in the finger tip position of second knuckle 205
The place of putting is provided with diaphragm pressure sensor 206, covered with diaphragm pressure sensor 206 at 301 finger belly position of third knuckle,
Diaphragm pressure sensor 206 is provided at the fingertip location of four finger joints 305.It, can be with stable detection by setting pressure sensor
Stress in finger can more observantly perceive external force size.It is highly preferred that pressure sensor external pasting has non-slip mat, such as
Be pasted with non-slip mat 207 at the finger tip of two finger joints, pasted at the finger tip of the 4th finger joint useful rubber system into non-slip mat 307, if
Non-slip mat is put, the frictional force during manipulator grasps can not only be increased, enhance the grippage of manipulator, and can effectively protect
Protect pressure sensor.
As shown in fig. 7, the Apery manipulator passes through CAN (Controller Area Network, controller local area network)
Communication receives the control signal that the master controller 7 of entire mechanical system is sent, and the control panel 103 of manipulator 9 is by controlling each drive
Moving cell so that manipulator 8 can be completed such as to carry, pinch, grab hand motion.In action process, the rotation angle at articulations digitorum manus passes
The data obtained is transferred to control panel 103 by sensor 9 by measuring the rotation angle of shaft, then passes through the realization pair of control panel 103
The adjusting control of driving unit, and then the rotation angle and speed of finger joint are adjusted, realize the feedback function of der Geschwindigkeitkreis；It is meanwhile thin
Membrane pressure sensor 206 obtains the pressure at finger tip or finger belly, and pressure signal is transmitted to control panel 103, realizes pressure
It adjusts, one of feedback as electric current loop.Sensor can aid in realizing the accurate control of torque, realize the adjusting of grasping dynamics,
The correction that the two is acted so that action control is more accurate, and the setting of sensor realizes the closed-loop control of manipulator.
Apery manipulator provided by the invention, each finger are respectively provided with two degree of freedom, it can be achieved that grasping, pinching, carrying etc. and is dynamic
Make, realize the application demand of robot in daily life；Each finger joint of manipulator finger is operated alone by a motor,
Enough driving forces in robot work can be provided, increase interphalangeal curvature and grip so that finger it is each from
By spending in action, there is excellent grasping performance.
The foregoing is merely a prefered embodiment of the invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modifications, equivalent replacements and improvements are made should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of Apery manipulator, which is characterized in that including：Palm component, first-hand finger assembly, multiple second finger components；
The first-hand finger assembly and multiple second finger components are movably connected in the palm component by connector
On, multiple second finger components are arranged side by side, the first-hand finger assembly and second finger component phase one of them described
To setting；The first-hand finger assembly and the second finger component are respectively provided with two finger joints, and each finger joint passes through a driving
Unit is operated alone；The first-hand finger assembly can be realized under the driving of the driving unit with the second finger component and grabbed
Hold movement.
2. Apery manipulator as described in claim 1, which is characterized in that the palm component includes main supporting item and control
Plate；The main supporting item is equipped with the connector peace of the control panel mounting portion for installing the control panel and the installation connector
Dress portion.
3. Apery manipulator as described in claim 1, which is characterized in that the connector includes the first connector；Described
A connection piece is used to connect first-hand finger assembly and the palm component；First connector includes the fixed driving unit
Annulus and connect the plectane of the first-hand finger assembly, the annulus outer wall is connected as one with the plectane by linking arm
Structure, it is coaxial or parallel with the shaft of the first-hand finger assembly after the driving unit installation.
4. Apery manipulator as claimed in claim 3, which is characterized in that the first-hand finger assembly includes first knuckle, the
Two finger joints and Bevel Gear Transmission unit；The first knuckle is connected with first connector, and a driving unit is direct
The first knuckle is driven to be rotated relative to first connector；The junction of the first knuckle and the second knuckle is equipped with
The Bevel Gear Transmission unit, the output shaft of another driving unit is changed by the Bevel Gear Transmission unit to be back-drived
The second knuckle is rotated relative to the first knuckle.
5. Apery manipulator as described in claim 1, which is characterized in that the connector includes the second connector；Described
Two connectors are used to connect the second finger component and the palm component；It is single that second connector is equipped with fixed driving
The fixed part of member, its output shaft is vertical with the shaft of the second finger component after the driving unit is fixed.
6. Apery manipulator as claimed in claim 5, which is characterized in that the second finger component includes third knuckle, the
Four finger joints and two Bevel Gear Transmission units；The junction of the third knuckle and second connector sets that there are one bevel gears
Gear unit, a driving unit drive the third knuckle relatively described second to connect by the Bevel Gear Transmission unit
Fitting rotates；The third knuckle and the junction of the 4th finger joint are equipped with another Bevel Gear Transmission unit, another institute
State driving unit drives the 4th finger joint to be rotated relative to the third knuckle by the Bevel Gear Transmission unit.
7. Apery manipulator as described in claim 1, which is characterized in that the first-hand finger assembly and/or the second-hand
Pressure sensor is equipped at the finger tip and/or finger belly of finger assembly.
8. Apery manipulator as claimed in claim 7, which is characterized in that the pressure sensor external pasting has non-slip mat.
9. such as claim 1-8 any one of them Apery manipulators, which is characterized in that the first-hand finger assembly and described the
Current potential device assembly is equipped at the rotatable connection of second-hand finger assembly.
10. such as claim 1-8 any one of them Apery manipulators, which is characterized in that the second finger component is three,
The first-hand finger assembly is oppositely arranged with any one of second finger component positioned at both sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711425322.0A CN108098804A (en) | 2017-12-25 | 2017-12-25 | Apery manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711425322.0A CN108098804A (en) | 2017-12-25 | 2017-12-25 | Apery manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108098804A true CN108098804A (en) | 2018-06-01 |
Family
ID=62213283
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711425322.0A Pending CN108098804A (en) | 2017-12-25 | 2017-12-25 | Apery manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108098804A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748177A (en) * | 2018-06-06 | 2018-11-06 | 华强方特（深圳）科技有限公司 | A kind of emulated robot |
| CN108908379A (en) * | 2018-06-27 | 2018-11-30 | 天津大学 | A kind of pneumatic software finger with haptic force and shape perceptional function |
| CN112025744A (en) * | 2020-08-20 | 2020-12-04 | 广西大学 | Mechanical finger and mechanical arm |
| CN112025745A (en) * | 2020-08-20 | 2020-12-04 | 广西大学 | Mechanical knuckle, mechanical finger and mechanical arm |
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| CN1418765A (en) * | 2002-12-13 | 2003-05-21 | 北京航空航天大学 | Clever hands mechanism of robot |
| US20070158964A1 (en) * | 2006-01-12 | 2007-07-12 | Harmonic Drive Systems Inc. | Finger unit for robot hand |
| CN102873687A (en) * | 2012-09-06 | 2013-01-16 | 清华大学 | Distributed multi-motor cooperative composite grabbing robot finger device |
| CN103538077A (en) * | 2013-10-12 | 2014-01-29 | 华南理工大学 | Mechanical simulated hand with multi-degree of freedom |
| CN103722557A (en) * | 2012-10-11 | 2014-04-16 | 精工爱普生株式会社 | Robot hand, robot device and method of manufacturing robot hand |
| CN206561436U (en) * | 2017-02-21 | 2017-10-17 | 深圳诺欧博智能科技有限公司 | A kind of dual drive anthropomorphic manipulator and robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1418765A (en) * | 2002-12-13 | 2003-05-21 | 北京航空航天大学 | Clever hands mechanism of robot |
| US20070158964A1 (en) * | 2006-01-12 | 2007-07-12 | Harmonic Drive Systems Inc. | Finger unit for robot hand |
| CN102873687A (en) * | 2012-09-06 | 2013-01-16 | 清华大学 | Distributed multi-motor cooperative composite grabbing robot finger device |
| CN103722557A (en) * | 2012-10-11 | 2014-04-16 | 精工爱普生株式会社 | Robot hand, robot device and method of manufacturing robot hand |
| CN103538077A (en) * | 2013-10-12 | 2014-01-29 | 华南理工大学 | Mechanical simulated hand with multi-degree of freedom |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748177A (en) * | 2018-06-06 | 2018-11-06 | 华强方特（深圳）科技有限公司 | A kind of emulated robot |
| CN108908379A (en) * | 2018-06-27 | 2018-11-30 | 天津大学 | A kind of pneumatic software finger with haptic force and shape perceptional function |
| CN112025744A (en) * | 2020-08-20 | 2020-12-04 | 广西大学 | Mechanical finger and mechanical arm |
| CN112025745A (en) * | 2020-08-20 | 2020-12-04 | 广西大学 | Mechanical knuckle, mechanical finger and mechanical arm |
| CN112025745B (en) * | 2020-08-20 | 2022-06-17 | 广西大学 | Mechanical knuckle, mechanical finger and mechanical arm |
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